TW201708997A - Conveyance control device and conveyance control system - Google Patents

Abstract

A controller 3 according to one aspect of the present invention is a conveyance control device for controlling an operation of at least one carriage 2 which conveys a FOUP. The controller 3 comprises: a basic process unit 34 which generates basic command data 32b indicating an operation that is directed to the carriage 2 on the basis of basic input data 32a including a FOUP conveying request; an optimization process unit 35 which generates optimization command data 33b indicating an operation that is directed to the carriage 2 on the basis of optimization input data 33a including the FOUP conveying request; an output unit 36 which outputs the basic command data 32b or the optimization command data 33b to the carriage 2; and a switching unit 38 which controls at least any one of the basic process unit 34, the optimization process unit 35, and the output unit 36 so that either the basic command data 32b or the optimization command data 33b is outputted by the output unit 36.

Description

Handling control device and handling control system

The present invention relates to a conveyance control device and a conveyance control system.

In the past, for example, in a production line such as a factory for producing semiconductors, a system for controlling the traveling of a vehicle carrying an article such as a semiconductor is known. Patent Document 1 described below discloses a trolley system in which a plurality of trolleys periodically report the state of the trolley to the controller on the ground side, and the controller on the ground side periodically transmits a walking command to the plurality of trolleys, whereby the console workshop is Workshop distance. In the following Patent Document 2, the controller estimates the current position of each vehicle based on the position notified by each vehicle, the information indicating the branching or the straight forward, and the time, and based on the distribution of the current position of each of the estimated vehicles. Explore the walking route that avoids congestion. As described above, by performing the current state prediction based on the current state of the vehicle or the like, and determining the optimization process such as the traveling speed of the trolley or the traveling route based on the prediction result, it is expected to improve the transportation efficiency.

[Previous Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent No. 5445055

[Patent Document 2] Japanese Patent No. 4438095

However, since the above-described optimization processing is a complicated process, it is considered that the software (program) that executes the processing must continue to perform the update for the function improvement while verifying how to perform the operation in reality. On the other hand, when the software update as described above is implemented, there is a case where the software has a problem (bug, etc.) after the update. In the case as shown above, the rollback process of cutting the software back to the pre-update state is usually performed by an operator or the like. By the above-described turning processing being executed, the normal processing for updating the pre-software is restarted. However, until the completion of the turning process, the optimization process for determining the movement of the conveyor is stopped. Therefore, there is a possibility that the operation of the transporter is stopped and the conveyance operation of the articles is stopped.

Therefore, an object of one aspect of the present invention is to provide a conveyance control device and a conveyance control system that can suppress the stop of the operation of the conveyance machine.

A conveyance control device according to an aspect of the present invention is a conveyance control device that controls an operation of one or more conveyance articles, and is provided with The first processing means generates a first command material indicating an operation to be commanded by the transporter based on the first input data including the transport request of the article, and a second processing means based on the transport request including the article. The second input data generates a second command material indicating an operation to be commanded by the transporter, and an output means for generating the first command material generated by the first processing means or the second processing means. 2 command data output to the transporter; and switching means for controlling the first processing means, the second processing means, and the output means by one of the first command data and the second command data being output by the output means At least one of the actions.

In the conveyance control device according to an aspect of the present invention, the command data for output to the transporter can be generated by the first processing means and the second processing means. Further, the command data generated by any of the first processing means and the second processing means is outputted, and can be switched by the switching means. Therefore, even if one of the first processing means and the second processing means has a bug such as a software error or the like, the above-described conveyance control device can be switched to be outputted by the first processing means and The command material generated by the other of the second processing means. Thereby, the command data can be continuously output to the transporter by the output means. As a result, the transporter can continue to operate according to the command data, so that the operation of the transporter can be suppressed from being stopped.

In the above-described conveyance control device, the second input data may include: a basic item included in the first input data and an additional item not included in the first input data, and the second command data includes: the first command data includes Basic items and additional items not included in the first command data In the case of the switching means, the second processing means is operated preferentially, and when the trigger indicating the request to operate the first processing means is detected, the first processing means is switched to operate.

In the above-described conveyance control device, the second processing means for generating the second command material including the information item having more information than the first command data is generated based on the second input data including the information items having more information than the first input data. Give priority to the action. In this way, the second command data, which is more detailed than the first command data, can be output to the transporter, and the transport operation of the transporter can be increased (efficiency, optimization, etc.). On the other hand, when the trigger means for detecting the request for causing the first processing means to operate is detected, the switching means switches to the first processing means and operates. In this way, for example, it is necessary to change the processing content of the second processing means, and if the processing by the second processing means cannot be executed, the first command data generated by the first processing means is output to the transporter. The operation of the conveyor can be continued.

The transport control device may further include an abnormality processing sensing means for monitoring the occurrence of the abnormality processing by the processing by the second processing means, and the switching means detects the sense by the abnormal processing sensing means. The occurrence of the abnormality detection is performed as the trigger, and the first processing means is switched to operate.

In the above-described conveyance control device, when the occurrence of the abnormality processing is sensed in the processing by the second processing means, the switching means automatically switches to the first processing means and operates. Thereby, it is possible to prevent the abnormality processing from being continued, and the first command material generated by the first processing means, The operation of the conveyor is continued.

The transport control device may further include: a repairing means for repairing the processing content of the second processing means when the abnormal processing is sensed by the abnormal processing sensing means, and the switching means is sensing by repairing The repair for the means is completed, and the second processing means is switched to operate.

In the above-described conveyance control device, when the occurrence of the abnormality processing is sensed, the switching means automatically switches to the first processing means to operate, and the repair means repairs the processing content of the second processing means. Next, after the repair is completed, the switching means is again switched to the second processing means to operate. As described above, the above-described conveyance control device can continue the operation of the transporter by operating the first processing means until the repair of the processing content of the second processing means is completed. In addition, after the repair of the processing content of the second processing means is completed, the second processing means is operated again, and the operation of the transporter can be increased (efficiency, optimization, etc.).

A conveyance control system according to an aspect of the present invention includes a conveyance machine that transports one or more articles, and a conveyance control system that controls a movement of the conveyance device, and the conveyance control device includes: a first processing means The first command data indicating the operation to be commanded by the transporter is generated based on the first input data including the transport request of the article, and the second processing means is generated based on the second input data including the transport request of the article. a second command data indicating an operation commanded by the transporter; and an output means for the first command resource generated by the first processing means And outputting the second command data generated by the second processing means to the transporter; and switching means for controlling the output of one of the first command data and the second command data by the output means The operation of at least one of the processing means, the second processing means, and the output means, the transporter is provided with: a first operation control means for receiving the first command data, and controlling the self-machine based on the first command data And the second motion control means receives the second command data and controls the operation of the own machine based on the second command data.

In the above-described conveyance control system, the conveyance control device can generate command data for output to the conveyance machine by the first processing means and the second processing means. Further, the transporter is provided with an operation control means corresponding to each of the first command data and the second command data that can be received. In other words, the transport control device and the transporter are provided with a system (a pair of the first processing means and the first operational control means) for performing the operation control of the transporter based on the first command data, and A system for controlling the operation of the transporter according to the second command data (pair of the second processing means and the second operational control means). Therefore, according to the above-described conveyance control system, even if abnormal processing occurs in one of the systems, for example, the switching means can be switched to the other system to operate, whereby the operation control of the transporter can be continued. Thereby, the operation of the transporter can be suppressed from being stopped.

According to the present invention, it is possible to provide a conveyance control device and a conveyance control system capable of suppressing the stop of the operation of the conveyor.

1‧‧‧Transportation Control System

2‧‧‧Trolley (handling machine)

3‧‧‧Controller (transportation control device)

4‧‧‧Transportation

5‧‧‧ route (intra-bay route)

6‧‧‧ route (inter-bay route)

7‧‧‧Loading

8‧‧‧buffer

9‧‧ ‧ Confluence Department

21‧‧‧Notice Department

22‧‧‧Receipt Department

23‧‧‧Basic motion control unit (first motion control means)

24‧‧‧Optimized motion control unit (second motion control means)

31‧‧‧ Reception Department

32‧‧‧Basic Processing Data Memory Department

32a‧‧‧Basic input data (1st input)

32b‧‧‧Basic order information (1st order information)

33‧‧‧Optimization of Information Memory

33a‧‧‧Optimized input data (2nd input)

33b‧‧‧Optimized order information (2nd order information)

34‧‧‧Basic processing unit (first processing means)

35‧‧‧Optimization processing department (second processing means)

36‧‧‧Output Department (output means)

37‧‧‧Exception Handling Sensing Department (Exception Handling Sensing Method)

38‧‧‧Switching department (switching means)

39‧‧‧Repair Department (Repair means)

301‧‧‧CPU

302‧‧‧RAM

303‧‧‧ROM

304‧‧‧Input device

305‧‧‧ Output device

306‧‧‧Communication Module

307‧‧‧Auxiliary memory device

Fig. 1 is a view showing an example of a layout arrangement of a conveyance control system according to an embodiment of the present invention.

Fig. 2 is a block diagram showing the functional configuration of the conveyance control system.

Fig. 3 is a block diagram showing an example of a hardware configuration of the conveyance control device.

Fig. 4 is a view showing an example of information used in the conveyance control system.

Fig. 5 is a schematic view for explaining an update process and a swing process.

Fig. 6 is a flow chart showing the operation of the conveyance control system.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description, the same or equivalent elements are designated by the same reference numerals, and the repeated description is omitted.

Fig. 1 is a view showing an example of a layout arrangement of a conveyance control system according to an embodiment of the present invention. Fig. 2 is a block diagram showing the functional configuration of the conveyance control system. As shown in FIG. 1 and FIG. 2, the conveyance control system 1 of the present embodiment is configured to include one or more trolleys (transporters) 2 for transporting articles, and a controller (transportation control device) for controlling the operation of each of the trolleys 2 ) 3. The conveyance control system 1 includes a control system that performs operation control of the bogie 2 based on a low-level operation command (basic command data). And a control system that executes the operation control of the bogie 2 according to the high-level motion command (optimization command data), and is configured to switch the control systems. Thereby, the operation control of the bogie 2 according to the high-level operation command is normally performed, whereby the overall conveyance control can be optimized. Further, if there is a problem in the processing content for generating the high-level motion command (that is, the software for specifying the processing content), the operation can be continued by switching to the motion control of the carriage 2 according to the low-level motion command. The operation control of the trolley 2 is performed.

As shown in Fig. 1, the trolley 2 is configured to be movable along a conveyance path 4 such as a rail laid in a factory. The trolley 2 is not limited to a specific type, such as an overhead traveling vehicle, an unmanned transport vehicle, an orbiting trolley, and the like. In the present embodiment, for example, the article transported by the cart 2 is a cassette (a so-called FOUP (Front Opening Unified Pod)) that accommodates a plurality of semiconductor wafers.

The transport path 4 is divided into a plurality of (12 in the example of FIG. 1) division (bay), and a route (intra-bay route) 5 in each loop is formed, and Connect the route between different loops (inter-bay route)6. Along with these routes 5, 6, a load port 7 and a buffer zone 8 are provided. The loading cassette 7 is a place where the FOUP is received between the processing device (not shown) and the trolley 2. Buffer 8 is the location where the trolley 2 can temporarily place the FOUP. The merging portion 9 is required to be excluded from the route 5, 6 and the exclusive control of the plurality of cars 2 at the same time.

The controller 3 outputs the output of each car 2 by wireless communication. The transport command thereby controls the transport operation of each of the carts 2. The transport operation refers to a series of operations performed by the FOUP, and includes, for example, an operation of loading a FOUP in the loading cassette 7 and the buffer area 8 (loading operation), an operation of removing the FOUP (unloading operation), and carrying The walking action of the road 4 and the like. The controller 3 receives, for example, a host controller such as an MES (Manufacturing Execution System) (not shown), and receives a transport request indicating a request for FOUP transport (for example, indicating which location to which location, and which FOUP to transport. Information) and assigned to the trolley 2. In other words, the controller 3 determines the vehicle 2 that is the distribution destination of the transportation request for each of the transportation requests accepted by the host controller, and commands the determined vehicle 2 to execute the transportation request. Thereby, each transport request is performed by the cart 2 to which the transport request is assigned. In the present embodiment, an example in which the controller 3 directly controls the configuration of the bogie 2 existing in the entire control target region shown in FIG. 1 will be described. However, the configuration controlled by the controller 3 is not limited to this example. For example, the control object area may be divided into a plurality of zones, and a partition controller for controlling the trolley 2 in the zone is provided for each zone. At this time, the controller 3 is configured to control the vehicle 2 through the partition controller.

As shown in FIG. 2, the truck 2 includes a notification unit 21, a reception unit 22, a basic operation control unit 23, and an optimization operation control unit 24 as functional components. Further, the controller 3 includes an accepting unit 31, a basic processing data storage unit 32, an optimization processing data storage unit 33, a basic processing unit 34, an optimization processing unit 35, an output unit 36, and a different unit. The sensing unit 37, the switching unit 38, and the repair unit 39 are often processed as functional components.

As shown in FIG. 3, the controller 3 is configured to include one or more CPUs (Central Processing Units) 301, and one or more RAM (Random Access Memory) 302 as main memory devices. And one or more ROM (Read Only Memory) 303; an input device 304 such as a keyboard for an operator to input an operation; an output device 305 such as a display for prompting an operator; and an external device A communication module 306 for wired communication or wireless communication; and an auxiliary memory device 307 such as a hard disk drive and a semiconductor memory are used as a computer system composed of hardware. The controller 3 may be configured as one server device or may be configured as a plurality of server devices that operate in coordination. Each function of the controller 3 shown in FIG. 2 is operated by, for example, reading a predetermined program into the hardware such as the CPU 301 and the RAM 302 shown in FIG. 3, and operating the input device 304 and the output device 305 according to the control of the CPU 301. Further, the communication module 306 is operated to perform reading and writing of data in the RAM 302 and the auxiliary storage device 307.

The hardware configuration of the bogie 2 is, for example, a configuration in which the input device and the output device are omitted in the hardware configuration of the controller 3. In the same manner as the above-described controller 3, the predetermined program is read into a hardware such as a CPU or a RAM, and the communication module is operated in accordance with the control of the CPU. The data is read and written in the RAM and the auxiliary memory device.

The data used by the trolley 2 and the controller 3 will be described using FIG. (a) of Fig. 4 shows an example of the data input to the controller 3. Among the materials shown in (a) of FIG. 4, the information on the conveyance path, the load port, and the conveyance request is data input to the controller 3 by, for example, external input from the above-described upper controller or the like. In addition, the information on the trolley is, for example, information indicating the state in which the notification unit 21 of the carriage 2 is regularly notified to the trolley 2 of the controller 3.

The basic item shown in (a) of FIG. 4 is an item included in the basic input data (first input data) 32a of the handling request of the FOUP. The basic input data 32a is stored in the data of the basic processing data storage unit 32. The basic input data 32a is used for the basic processing unit 34 to generate basic command data (first command data) 32b. The basic command data 32b is a command material for causing the carriage 2 to perform a relatively simple low-level conveyance operation.

The additional item shown in (a) of FIG. 4 is not included in the basic input data, and is an item included only in the optimized input data (second input material) 33a. That is, the optimized input data 33a includes data of both the basic item and the additional item. The optimum input data 33a is stored in the data of the optimization processing data storage unit 33. The optimization input data 33a is used for generating the optimization command data (second command data) 33b by the optimization processing unit 35. The optimization command data 33b is command material for causing the trolley 2 to perform a relatively complicated high-level conveyance operation. However, when the optimization processing unit 35 described later performs processing using only the basic input data, the additional item may be empty. That is, basic input The data 32a and the optimized input data 33a may also be the same.

In the example of (a) of FIG. 4, the basic items relating to the conveyance path (routes 5 and 6) are such that the conveyance path ID of the conveyance path, the length of the conveyance path, the curve or the straight line shape, and the presence or absence of the conveyance path are indicated. A locked state such as a loop. The additional item related to the conveyance path is a transportation road usage plan (including, for example, planning information such as the maintenance period and the usable time of the transportation path). In addition, the basic item relating to loading 埠 (loading 埠 7) is to identify the loading 埠 ID of the loading raft and the presence or absence of FOUP. The additional items related to loading 系 are loaded with the usage plan (including planning information such as the maintenance period and the available time period of the loading raft).

In addition, the basic item of the trolley (carriage 2) identifies the trolley ID of the trolley, the position of the trolley on the transport lane 4, the timing at which the trolley exists at the location, and the type of the trolley (for example, information indicating the type of the trolley such as the overhead traveling vehicle) And the command execution status indicating whether or not the transportation request is assigned to the trolley. In the example of (a) of Fig. 4, there is no additional item related to the trolley. In addition, the basic items related to the transportation request are the transportation request ID for identifying the transportation request, the "From" indicating the loading location, the "To" indicating the loading location, and the FOUPID identifying the FOUP to be transported. The additional items related to the handling requirements are the priority between the multiple handling requirements.

(b) of FIG. 4 shows an example of command data outputted to the cart 2 by the controller 3. The basic item shown in (b) of FIG. 4 is an item included in the basic command material 32b. The additional item shown in (b) of FIG. 4 is included only in the item of the optimization command material 33b. Optimum The order data 33b is information including both the basic item and the additional item. In the example of (b) of FIG. 4, the basic item identifies the bogie command ID of the bogie command, "From" indicating the loading location, "To" indicating the unloading point, and the FOUPID indicating the FOUP to be transported, and the representation. The handling request ID of the assigned handling request. The additional item is one or more pieces of setting information for the traveling route instructed by the bogie 2 (for example, the order of several specific points set in advance on the conveyance path 4), and the arrival position and time (for example, the specific location is The corresponding information should be generated at the time of arrival at the specific location, etc.).

Returning to Fig. 2, each functional element of the bogie 2 and the controller 3 constituting the conveyance control system 1 will be described.

First, each function of the cart 2 will be described. The notification unit 21 is a means for notifying the controller 3 of the state of the bogie 2 on a regular basis (for example, a period of 1 msec to 1 second). Specifically, as shown in FIG. 4( a ), the notification unit 21 notifies the controller 3 of the vehicle ID, the position, the time, the type, and the information indicating the state of the vehicle including the command execution state (hereinafter referred to as “trailer”. Report information").

The receiving unit 22 is a means for receiving command data from the controller 3. The receiving unit 22 determines the type of the command material from the controller 3 by, for example, information included in the header of the command material. When the reception unit 22 determines that the received command material is the basic command material 32b, the basic operation control unit 23 receives the basic command material 32b. On the other hand, when the reception unit 22 determines that the received command material is the optimization command material 33b, the reception unit 22 is in the optimization operation control unit 24. The optimization command data 33b is received. As described above, in the present embodiment, the carriage 2 receiving unit 22 determines the type of the command data, and controls the appropriate operation control unit (the basic operation control unit 23 or the optimum operation control according to the type of the command data). The part 24) assigns command material (basic command material 32b or optimum command material 33b). Thereby, commands of 2 different systems can be switched to be executed.

The basic operation control unit 23 is a means (first operation control means) for receiving the basic command material 32b and controlling the operation of the own machine based on the basic command material 32b. The optimization operation control unit 24 receives the optimization command material 33b, and controls the operation of the self-machine based on the optimization command data 33b (second operation control means). The optimization operation control unit 24 can perform control of one or more pieces of setting information based on the traveling route and the arrival position and time in addition to the basic command material 32b, thereby performing higher-level control than the basic operation control unit 23.

Here, the travel route and the setting information included in the optimization command data 33b are optimized by the processing unit 35, for example, from the viewpoint of the overall optimum of the FOUP transport operation. Specifically, the traveling route is a traveling route (optimized traveling route) set to the bogie 2 in such a manner that the completion of the plurality of transportation requests can be performed in the shortest time. Further, one or more setting information of the arrival position and time is information determined by the manner in which interference does not occur between the plurality of carriages 2 (the over-station of the workshop is excessive, or the movement of one vehicle 2 interferes with the movement of the other trolleys 2). Therefore, the optimization operation control unit 24 can move the self-machine along the optimized travel route based on the travel route included in the optimization command data. this Further, the optimization operation control unit 24 controls the acceleration/deceleration of the own machine to adjust the time of arrival at a specific place, for example, based on the setting information included in the optimization command data, thereby controlling the manner in which interference with other vehicles 2 is not performed. Walking from the machine.

Next, each function of the controller 3 will be described. The receiving unit 31 receives the data (the material shown in (a) of FIG. 4) which is the basis of the basic input data 32a and the optimized input data 33a by the upper controller, the trolley 2, and the like. The receiving unit 31 stores the data on the basic items in the received data as the basic input data 32a in the basic processing data storage unit 32, and stores the data related to the basic items and the additional items among the received data. The data storage unit 33 is optimized.

The basic processing data storage unit 32 is configured as a memory means for performing data access (reading and writing, etc.) from the basic processing unit 34, and memorizes the basic input data 32a used in the processing of the basic processing unit 34, and the memory is basically The basic command material 32b generated by the processing unit 34. The optimization processing data storage unit 33 is configured as a memory means for performing data access (reading and writing, etc.) from the optimization processing unit 35, and stores the optimized input data 33a used in the processing of the optimization processing unit 35, and The optimization command material 33b generated by the optimization processing unit 35 is memorized.

In the present embodiment, as described above, the configuration in which the basic processing data storage unit 32 and the optimization processing data storage unit 33 are separately provided is exemplified. However, the basic processing data storage unit 32 and the optimization processing data storage unit 33 may be configured as a common memory unit. At this point, there must be a base The basic processing unit 34 of the input data 32a can perform processing using only the data on the basic items among the materials stored in the common memory unit. Further, the optimization processing unit 35 that is required to optimize the input data 33a can perform processing using the data of both the basic item and the additional item among the data stored in the memory unit.

The basic processing unit 34 generates a means (first processing means) for indicating the basic command material 32b that is commanded by the vehicle 2 based on the basic input data 32a. The optimization processing unit 35 generates a means (second processing means) for indicating the optimum command material 33b for the operation commanded by the vehicle 2 based on the optimization input data 33a. The basic processing unit 34 and the optimization processing unit 35 are switched by the switching unit 38 so as to operate at the same time. However, the basic processing unit 34 and the optimization processing unit 35 may be simultaneously operated. At this time, the switching unit 38 may switch the operation of the output unit 36 so that the output unit 36 outputs the command data generated by either of the basic processing unit 34 and the optimization processing unit 35. In the present embodiment, the switching unit 38 controls the operations of the basic processing unit 34 and the optimization processing unit 35 so that the basic processing unit 34 and the optimization processing unit 35 operate. More specifically, in the present embodiment, the switching unit 38 switches to the optimization processing unit 35 to operate preferentially. In other words, when there is no problem such as a bug in the software in the processing content of the optimization processing unit 35, the optimization processing unit 35 operates in priority over the basic processing unit 34. The following is focused on the distribution control of the distribution request of the controller 3 to each of the trolleys 2 based on the transportation request input by the upper controller and the trolley report data notified by each of the vehicles 2. In the example, the basic processing unit 34 and the optimization processing unit 35 will be described.

The basic processing unit 34 performs processing that is lower than the optimization processing unit 35. In the example of the above-described distribution control, the basic processing unit 34 generates basic command data 32b that is relatively simple in content such as the layout of the transport path 4, the load cassette 7, and the buffer area 8. Specifically, the basic processing unit 34 processes each of the transportation requests notified by the upper controller in the order in which the transportation request is notified. The basic processing unit 34 is assigned to a place where the FOUP (that is, the FOUP indicated by the FOUPID included in the transport request) existing in the transport request is transported (i.e., the location indicated by the "From" of the transport request). ) Trolley 2 for the nearest location.

More specifically, the basic processing unit 34 defines the FOUP stored in the transport target closest to the transport request by referring to the trolley report data notified by each of the carts 2 (that is, the item of the cart of the basic input data 32a). The location of the trolley 2. Next, the basic processing unit 34 generates basic command material 32b including information for instructing the defined carriage 2 to execute the transportation request (that is, the basic item shown in (a) of FIG. 4). The basic command material 32b generated by the basic processing unit 34 is stored, for example, in the basic processing data storage unit 32. Next, the output unit 36 takes out the basic command material 32b and outputs it to the cart 2 of the command object. The processing by the basic processing unit 34 is merely an example, and the basic processing unit 34 performs a relatively simple low level processing as described above.

On the other hand, the optimization processing unit 35 performs higher than the basic processing unit 34 by using more information than the basic processing unit 34. Level processing. The optimization processing unit 35 preferentially processes the transportation request having a high priority among the plurality of transportation requests notified by the higher-level controller, based on the information of the "priority" of the additional item as the transportation request. Further, the optimization processing unit 35 performs an optimization process for assigning each transportation request to each of the vehicles 2 so as to complete the plurality of transportation requests in the shortest time. In other words, the optimization processing unit 35 does not perform the processing in the order in which the transportation request is notified, as in the case of the basic processing unit 34, but preferentially executes the transportation request with high priority, and performs the most efficient execution in the shortest time with the plurality of transportation requests. The way to accomplish this is to achieve an optimal allocation.

In the present embodiment, the optimization processing unit 35 determines whether or not to assign the transportation request to each of the vehicles 2, and generates one or more setting information of the traveling route and the arrival position and time of each of the vehicles 2. . Next, the optimization processing unit 35 generates information including instructions for instructing each of the carts 2 to execute the respective transport requests (that is, the basic items shown in (a) of FIG. 4), and includes information indicating the specific travel control for each of the carts 2 ( That is, the optimization command material 33b of the additional item shown in (b) of FIG. The optimization command data 33b generated by the optimization processing unit 35 is stored, for example, in the optimization processing data storage unit 33. Next, the output unit 36 takes out the optimized command material 33b and outputs it to the cart 2 of the command object. The processing by the optimization processing unit 35 is merely an example, and the optimization processing unit 35 performs a relatively high level optimization process as described above.

The output unit 36 is a basic command resource that is stored in the basic processing data storage unit 32 by the basic processing unit 34 as described above. The material 32b or the means (output means) that is generated by the optimization processing unit 35 and stored in the optimization command data 33b of the optimization processing data storage unit 33 is output to the truck 2 to be commanded. The command data (the basic command material 32b or the optimization command data 33b) may be memorized only in one of the basic processing data storage unit 32 and the optimization processing data storage unit 33 for each control period of the controller 3, and the output unit 36 may be used. The command data is output. Alternatively, the command data may be memorized in both the basic processing data storage unit 32 and the optimization processing data storage unit 33 for each control period of the controller 3, and the output unit 36 may be selected and stored in the basic processing data storage unit 32. And the command material of one of the data storage units 33 is optimized and output. In the latter case, the output unit 36 selects which of the basic command data 32b and the optimization command data 33b, and can also be switched by the switching unit 38. Here, the method of causing the output unit 36 to grasp which command material (the basic command material 32b or the optimization command data 33b) is output to any of the carts 2 may be arbitrary. For example, the basic processing unit 34 or the optimization processing unit 35 may cause the output unit 36 to grasp the target vehicle 2 by the item ID including the command object. Further, the basic processing unit 34 or the optimization processing unit 35 may individually notify the output unit 36 of information indicating the association between the vehicle command ID and the vehicle ID.

The abnormality processing sensor unit 37 monitors the processing (the abnormality processing sensing means) for sensing the occurrence of the abnormality processing by the processing by the optimization processing unit 35. The abnormality processing unit 37 senses an abnormality processing when an arbitrary exception processing (for example, processing corresponding to a preset exception pattern) occurs in the arithmetic processing by the optimization processing unit 35, for example. happened. Further, the abnormality processing sensing unit 37 can also monitor the data (for example, the optimized input data 33a) stored in the optimization processing data storage unit 33 accessed by the optimization processing unit 35, thereby sensing the abnormal processing. occur. For example, the abnormality processing sensing unit 37 may sense that the data stored in the optimization processing data storage unit 33 is replaced with an illegitimate value in the process of processing the data by the optimization processing unit 35 (for example, The case where the data of the natural number is preliminarily substituted into a negative value or the like is taken as the occurrence of the abnormality processing. When the abnormality processing sensor 37 senses the occurrence of the abnormality processing, the switching unit 38 and the repairing unit 39 are notified of the sensing information indicating that the occurrence of the abnormality processing has been sensed.

The switching unit 38 controls at least one of the basic processing unit 34, the optimization processing unit 35, and the output unit 36 such that one of the basic command data 32b and the optimization command data 33b is output by the output unit 36. The means of action (switching means). The switching unit 38 can also be switched to, for example, one of the basic processing unit 34 and the optimization processing unit 35 to operate. Further, the switching unit 38 may control the operation of the output unit 36 such that both the basic processing unit 34 and the optimization processing unit 35 operate simultaneously, and the output unit 36 outputs only one of the processing results. As described above, in the present embodiment, the switching unit 38 causes the optimization processing unit 35 to operate preferentially, and when the trigger indicating the request to operate the basic processing unit 34 is detected, the switching unit 38 switches to the basic processing unit. 34 action. In addition, when the trigger indicating the request to operate the optimization processing unit 35 when the basic processing unit 34 is operating is detected, the switching unit 38 switches to the optimization processing unit 35 to operate. Here, the trigger is cut The change unit 38 is set in advance as a trigger for processing switching. Specific examples of the trigger include, for example, a process switching request manually input by an operator or a control signal for instructing a turning process notified by the abnormality processing sensing unit 37. For example, each of the triggers is associated with information indicating that the basic processing unit 34 and the optimization processing unit 35 are operated to switch. At this time, the switching unit 38 can switch to one of the basic processing unit 34 and the optimization processing unit 35 by referring to the information.

When the abnormality processing sensor 37 is sensed to be abnormally processed, that is, when the abnormality processing sensing unit 37 is notified of the sensing information, the switching unit 38 detects the sensing information as a representation. The processing unit 34 performs a trigger for the operation request, and switches to the basic processing unit 34 to operate. In other words, the switching unit 38 stops the processing of the optimization processing unit 35 that has sensed the occurrence of the abnormality processing, and starts the processing of the basic processing unit 34. As described above, when the occurrence of the abnormality processing is sensed by the processing by the optimization processing unit 35, the switching unit 38 automatically switches to the basic processing unit 34 to operate, thereby preventing the abnormal processing from being continued and borrowing The basic command data 32b generated by the basic processing unit 34 continues the operation of the carriage 2.

In addition, the switching unit 38 receives the notification of the completion information by the repair unit 39, which will be described later, and senses that the repair of the processing content by the optimization processing unit 35 by the repair unit 39 is completed, and switches to the optimization processing unit. 35 action. In other words, the switching unit 38 detects the completion information of the repair unit 39 as an indication that the optimization processing unit 35 is The trigger for the request for the row operation is switched to the optimization processing unit 35 to operate. As described above, the switching unit 38 causes the basic processing unit 34 to operate from the occurrence of the sensing abnormality processing until the completion of the notification of the completion information from the repairing unit 39, and receives the completion information from the repairing unit 39. When notified, the processing is again switched to the optimization processing unit 35 to operate. As a result, the operation of the carriage 2 can be continued by operating the basic processing unit 34 until the repair of the processing content of the optimization processing unit 35 by the repair unit 39 is completed. In addition, after the restoration of the processing content of the optimization processing unit 35 is completed, the optimization processing unit 35 is again operated, whereby the transportation operation of the trolley 2 can be increased (efficiency, optimization, etc.).

The repairing unit 39 is a means for repairing the processing content of the optimization processing unit 35 when the abnormality processing is detected by the abnormality processing sensing unit 37, that is, when the abnormality processing sensing unit 37 is notified of the sensing information. (Repair means). Specifically, the repair unit 39 repairs the processing content of the optimization processing unit 35 that is switched to the operation stop by the switching unit 38 by a preset repair method. At this time, the restoration unit 39 executes the data stored in the optimization processing data storage unit 33 when the data is stored in the optimization processing data storage unit 33 by the data processing of the optimization processing unit 35. Repair (such as initialization, etc.). In addition, if the data stored in the optimization processing data storage unit 33 has to be initialized or the like, the restoration unit 39 may retract (copy) the data of the initialization target to another memory area before the initialization is performed. The data that is retired can be used for analysis of the cause of the abnormality.

Here, the processing of the predetermined optimization processing unit 35 is considered. After the software of the content performs update processing such as addition of a new function, it is sensed that abnormal processing has occurred due to a defect in the software after the update. Hereinafter, the "software for specifying the processing content of the optimization processing unit 35" will be referred to as "software of the optimization processing unit 35". At this time, the repair unit 39 performs a turning process of cutting the software of the optimization processing unit 35 back into the software before the update, whereby the processing content of the optimization processing unit 35 can be repaired. When the repairing unit 39 completes the repair processing as described above, it notifies the switching unit 38 of the completion information indicating that the repair has been completed.

The software update processing and the turning processing of the optimization processing unit 35 will be described with reference to Fig. 5 . Fig. 5 is a schematic view for explaining an update process and a swing process. In FIG. 5, the block of the "optimization processing v1" indicates the processing of the optimization processing unit 35 before the update processing, and the block of the "optimization processing v2" indicates the processing of the optimization processing unit 35 after the update processing. The block of "basic processing" indicates the processing of the basic processing unit 34.

(a) of Fig. 5 shows the state before the update processing. In this state, the switching unit 38 is switched to the optimization processing unit 35 to operate preferentially. Therefore, the optimization command data 33b generated by the processing (optimization processing v1) of the optimization processing unit 35 is output to the trolley. 2.

(c) of FIG. 5 shows the state after the update processing. In this state, the switching unit 38 is switched to the optimization processing unit 35 to operate preferentially. Therefore, the optimization command data 33b generated by the processing (optimization processing v2) of the optimization processing unit 35 is output to the trolley. 2.

(b) of FIG. 5 shows an intermediate state in the update process or in the swing process. The intermediate state is indicated in the update process or the swing process However, the state processed by the optimization processing unit 35 cannot be performed. In the intermediate state, the switching unit 38 is switched to the basic processing unit 34 to operate, whereby the basic command data 32b generated by the processing (basic processing) of the basic processing unit 34 is output to the carriage 2.

An operation example (steps S1 and S2) of the controller 3 before and after the update process and an operation example of the controller 3 before and after the swing process (steps S3 to S8) will be described with reference to Fig. 6 .

In the state before the update processing shown in (a) of FIG. 5, when the execution of the update processing of the software of the optimization processing unit 35 is instructed by an operation of, for example, an operator, the switching unit 38 detects the instruction as The switching trigger is processed and switched to the basic processing unit 34 to operate (step S1). In other words, in step S1, the switching unit 38 stops the processing of the optimization processing unit 35 and starts the processing of the basic processing unit 34. Thereby, it moves to the intermediate state shown by (b) of FIG. As described above, the switching unit 38 detects the execution of the update processing of the software of the optimization processing unit 35 as a trigger, and switches to the basic processing unit 34 to operate, whereby the operation control of the carriage 2 can be continued based on the basic command data 32b. . In this period, the transportation control that achieves the optimum high level is not realized. However, by switching to the basic processing of the low level of the operation, the operation of the carriage 2 can be stopped, and the transport operation of the FOUP can be continued. The software for updating (software defining the optimization processing v2) is stored in advance in the auxiliary storage device 307 of the controller 3 or the like by an operation of an operator or the like before the update processing. In addition, the software before the update (the software that specifies the optimization process v1) is also stored in the controller 3 after the update process. The auxiliary memory device 307 or the like is used for the turning process.

When the software update processing of the optimization processing unit 35 is completed and the user is instructed to operate the optimization processing unit 35 again by an operation such as an operator, the switching unit 38 detects the instruction as a trigger for processing switching and switches to the optimum. The processing unit 35 operates (step S2). In other words, in step S2, the switching unit 38 stops the processing of the basic processing unit 34 and restarts the processing of the optimization processing unit 35. Thereby, the state after the update processing shown in (c) of FIG. 5 is moved.

In the state after the update processing shown in (c) of FIG. 5, the abnormality processing sensor unit 37 monitors the processing of the optimization processing unit 35. The abnormality processing sensor unit 37 notifies the switching unit 38 and the repair unit 39 of the sensing information when the abnormality processing is detected (step S3). When receiving the notification of the sensing information from the abnormality processing sensing unit 37, the switching unit 38 detects the notification of the sensing information as a trigger, and switches to the basic processing unit 34 to operate (step S4). In other words, in step S4, the switching unit 38 stops the processing of the optimization processing unit 35 and starts the processing of the basic processing unit 34. Thereby, it moves to the intermediate state shown by (b) of FIG. Next, after receiving the notification of the sensing information, the repairing unit 39 executes the processing of the optimization processing unit 35 by the switching unit 38, and then executes the software of the optimization processing unit 35 by the updated software ( The software that defines the optimization process v2 is switched back to the rotation process of the software before the update (the software that defines the optimization process v1) (step S5). Further, if the data stored in the optimization processing data storage unit 33 is destroyed by the data processing by the optimization processing unit 35, the restoration unit 39 performs the memory at the optimization. The data is restored (for example, initialized) by the data storage unit 33 (step S6). Here, if the data stored in the optimization processing data storage unit 33 has to be initialized or the like, the restoration unit 39 may retract (copy) the data of the initialization target to another memory area before the initialization is performed. The data that is retired can be used for analysis of the cause of the abnormality. The order of execution of steps S5 and S6 is not limited to the order shown in FIG. 6. For example, step S5 and step S6 may be performed in parallel, or step S5 may be performed after step S6 is executed.

When the processing of steps S5 and S6 is completed, the repair unit 39 notifies the switching unit 38 of the completion information indicating that the turning processing is completed (step S7). When the switching unit 38 receives the notification of the completion information from the repair unit 39, the notification of the completion information is detected as a trigger, and the switching processing unit 35 switches to the optimization processing unit 35 to operate (step S8). In other words, in step S8, the switching unit 38 stops the processing of the basic processing unit 34 and restarts the processing of the optimization processing unit 35. Thereby, the state before the update processing shown in (a) of FIG. 5 is moved.

As described above, in the controller 3 of the present embodiment, the command data for output to the cart 2 can be generated by the basic processing unit 34 and the optimization processing unit 35. Further, it is possible to switch the command data generated by the basic processing unit 34 and the optimization processing unit 35 by the switching unit 38. Therefore, the controller 3 generates an error processing such as a software error or the like in one of the basic processing unit 34 and the optimization processing unit 35 (in the embodiment, the optimization processing unit 35 is exemplified as an example). , can also be switched to be output by the basic processing unit 34 And the command material generated by the other of the optimization processing unit 35. Thereby, the command data can be continuously output to the cart 2 by the output unit 36. As a result, the carriage 2 can continue to operate according to the command data, so that the stop of the operation of the carriage 2 can be suppressed.

Further, in the controller 3, an optimization of the optimum command material 33b including more information items than the basic command material 32b is generated based on the optimized input data 33a including more information items than the basic input data 32a. The processing unit 35 is operated preferentially. By this means, in the normal state, the optimal command data 33b which is more detailed than the basic command data 32b can be output to the trolley 2, and the handling operation of the trolley 2 can be increased (efficiency, optimization, etc.). On the other hand, when the trigger unit 38 detects the trigger indicating the request to operate the basic processing unit 34, the switching unit 38 switches to the basic processing unit 34 to operate. Therefore, if it is necessary to change the processing content of the optimization processing unit 35 by, for example, the software update processing and the rotation processing, the processing by the optimization processing unit 35 cannot be performed, and the basic processing unit is used. The generated basic command data 32b is output to the trolley 2, whereby the operation of the carriage 2 can be continued.

Further, in the conveyance control system 1 of the present embodiment, the controller 3 can generate command data for output to the carriage 2 by the basic processing unit 34 and the optimization processing unit 35. Further, the cart 2 includes an operation control unit (a basic operation control unit 23 and an optimization operation control unit 24) corresponding to each of the basic command data 32b and the optimization command data 33b that can be collected. That is, the controller 3 and the cart 2 are provided with basic control for performing the operation control of the bogie 2 based on the basic command data 32b. System (pair of basic processing unit 34 and basic operation control unit 23); and optimization control system for optimizing operation of the vehicle 2 based on the optimization command data 33b (optimization processing unit 35 and optimization) The pair of motion control units 24). Therefore, the above-described conveyance control system 1 can switch to the other system by the switching unit 38 even if abnormal processing occurs in the processing of one of the systems (in the embodiment, the optimization control system is exemplified in an example). The operation is performed to continue the operation control of the trolley 2. Thereby, the stop of the operation of the trolley 2 can be suppressed.

The present invention will be described in detail based on the embodiments thereof. However, the present invention is not limited to the above embodiment. The present invention may be variously modified without departing from the spirit and scope of the invention.

In the above-described embodiment, the distribution control for allocating the transportation request to the bogie 2 is described as an example of the conveyance control by the conveyance control system 1. However, the control by the conveyance control system 1 may be control other than the distribution control (for example, control of the order of entering the carriage 2 of the merging unit 9, control of the inter-vehicle distance between the trolleys 2, etc.). Further, the content of the optimization processing and the basic processing is not limited to a specific processing content, and may be formed as content corresponding to the content of the control executed by the conveyance control system 1.

Further, the transporter to be controlled by the controller 3 is not limited to the trolleys listed in the above embodiments, and may be a transporter other than a trolley such as a stacker crane. In addition, in the above-described embodiment, the case where the controller 3 is provided as another device different from the transporter (the carriage 2) to be controlled is described. The controller 3 can also be assembled in the transporter if there is only one transport unit.

In addition, in the above-described embodiment, an example in which the switching unit 38 and the repairing unit 39 notify the abnormality processing sensing unit 37 that the control signal indicating the turning processing is generated when the abnormality processing is generated is described, but the switching unit 38 and the repairing unit 39 are provided. The indication of the turning process can also be performed by manual operation by the operator.

1‧‧‧Transportation Control System

2‧‧‧Trolley (handling machine)

3‧‧‧Controller (transportation control device)

21‧‧‧Notice Department

22‧‧‧Receipt Department

23‧‧‧Basic motion control unit (first motion control means)

24‧‧‧Optimized motion control unit (second motion control means)

31‧‧‧ Reception Department

32‧‧‧Basic Processing Data Memory Department

32a‧‧‧Basic input data (1st input)

32b‧‧‧Basic order information (1st order information)

33‧‧‧Optimization of Information Memory

33a‧‧‧Optimized input data (2nd input)

33b‧‧‧Optimized order information (2nd order information)

34‧‧‧Basic processing unit (first processing means)

35‧‧‧Optimization processing department (second processing means)

36‧‧‧Output Department (output means)

37‧‧‧Exception Handling Sensing Department (Exception Handling Sensing Method)

38‧‧‧Switching department (switching means)

39‧‧‧Repair Department (Repair means)

Claims (5)

A conveyance control device that controls a conveyance control device that controls the operation of one or more of the conveyed articles, and includes a first processing means that generates and displays the first input data including the conveyance request of the article. a first command data for an operation to be commanded by the transporter; and a second processing means for generating a second command data indicating an operation commanded by the transporter based on the second input data including the transport request of the article; And an output means for outputting the first command material generated by the first processing means or the second command material generated by the second processing means to the transporter; and the switching means At least one of the first command data and the second command data is output by the output means to control the operation of at least one of the first processing means, the second processing means, and the output means. The conveyance control device according to the first aspect of the invention, wherein the second input data includes: a basic item included in the first input data, and an additional item not included in the first input data, and the second command material The basic item included in the first command data and an additional item not included in the first command data, wherein the switching means preferentially operates the second processing means, and detects that the first processing means is indicated When the trigger for the operation is requested, the first processing means is switched to operate. The conveyance control device according to claim 2, further comprising: an abnormality processing sensing means for monitoring the occurrence of the abnormality processing by the processing by the second processing means, wherein the switching means is When the occurrence of the abnormality processing is sensed by the abnormality processing sensing means, the detection of the occurrence of the abnormality processing is detected as the trigger, and the first processing means is switched to operate. The transport control device according to claim 3, further comprising: a repairing means for repairing the second processing means when the occurrence of the abnormality processing is sensed by the abnormality processing sensing means In the processing content, the switching means senses that the repair by the repair means is completed, and switches to the second processing means to operate. A conveyance control system includes: a conveyance machine that transports one or more articles; and a conveyance control system that controls an operation of the conveyance machine, wherein the conveyance control device includes: a first processing means The first command data indicating the operation commanded by the transporter is generated based on the first input data including the transport request of the article, and the second processing means is based on the second input data including the transport request of the article. Generating a second command data indicating an operation to be commanded by the transporter; and output means for generating the first command material generated by the first processing means or the second command means generated by the second processing means And outputting the command data to the transporter; and the switching means, wherein the first processing means and the second means are controlled such that one of the first command data and the second command data is output by the output means The operation means and the operation of at least one of the output means, the transporter is provided with: a first operation control means for collecting the first command material, and controlling the operation of the own machine based on the first command material; And the second operation control means receives the second command data and controls the operation of the own machine based on the second command data.